CN112526507A - Radar and photoelectric scanning combined collision avoidance method and system - Google Patents
Radar and photoelectric scanning combined collision avoidance method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention discloses a collision avoidance method and system combining radar and photoelectric scanning, which are applied to vehicles, wherein the collision avoidance method comprises the following steps of S1: acquiring detection signals obtained by a radar device, and processing the detection signals to identify all detection objects in front of a vehicle; s2: acquiring the distance between each detection object and the vehicle and the direction of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object; s3: controlling the photoelectric scanning device to rotate to the position corresponding to the target object, tracking the target object by using the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle; s4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of the vehicle. The invention can enlarge the detection range, improve the detection precision and improve the driving safety.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted radar systems, in particular to a collision avoidance method and system combining radar and photoelectric scanning.
Background
At present, along with the development of science and technology, the progress of the era and the gradual rise of the unmanned technology, the unmanned technology is added into more and more vehicle-mounted systems of electric vehicles, so that the purpose of unmanned driving of vehicles in a specific area can be realized. The core of the unmanned technology lies in that the sensor detects the state in front of the vehicle, and the sensor analyzes the detection result and then makes a corresponding collision avoidance scheme, so that the vehicle can actively stop and avoid when an obstacle obstructs the vehicle to advance, and the driving safety is improved.
However, the current mainstream sensor used in the collision avoidance system mainly identifies the object in front of the vehicle by using radar, but the existing collision avoidance system has the following defects:
the existing radar is generally divided into a mechanical radar, a laser radar and a millimeter wave radar, and because the existing mechanical radar scans a large-range environment by rotating the detection angle of the existing mechanical radar, the mechanical radar needs a certain time period to complete the rotation action, so that the updating speed of a detection signal is relatively slow, and the vehicle distance cannot be accurately detected; if a laser radar is simply used for replacing a mechanical radar in order to improve the detection precision, the laser radar is expensive and has short service life, so that the vehicle cost is increased; if the millimeter wave radar which can work in a severe environment is simply used for replacing a mechanical radar, the detection precision is still not high, and the millimeter wave radar is not suitable for being applied to a high-speed road section with relatively high driving speed.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a collision avoidance method combining radar and photoelectric scanning, which enlarges the detection range by combining radar and photoelectric scanning, improves the detection precision, makes a corresponding collision avoidance instruction in time and improves the driving safety.
The invention also aims to provide a collision avoidance system combining radar and photoelectric scanning, which can enlarge the scanning range, improve the detection precision and improve the driving safety.
One of the purposes of the invention is realized by adopting the following technical scheme:
a collision avoidance method combining radar and photoelectric scanning is applied to a vehicle and comprises the following steps:
step S1: acquiring detection signals obtained by a radar device installed in a vehicle, and processing the detection signals to identify all detection objects in front of the vehicle;
step S2: acquiring the distance between each detection object and the vehicle and the direction of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object;
step S3: controlling a photoelectric scanning device arranged in a vehicle to rotate to a position corresponding to the target object, tracking the target object by using the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle;
step S4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of a vehicle.
Further, the step S2 further includes:
acquiring a steering signal of the vehicle, and pre-judging the driving direction of the vehicle according to the steering signal;
and judging the distances between all the detection objects positioned in the driving direction of the vehicle and the vehicle, and selecting at least one detection object closest to the vehicle as a target object.
Further, after the step S1, the method further includes: and generating a detection picture according to the detection signal and sending the detection picture to a vehicle-mounted system of the vehicle for displaying.
Further, after the step S1, the method further includes: and judging whether the detected object is a moving object or not according to the multiple detection signals received by the radar device, and if so, marking the detected object in a detection picture by using a specified mark for displaying.
Further, after the step S3, the method further includes: and the target object picture scanned by the photoelectric scanning device is fused into the detection picture and is sent to a vehicle-mounted system for display.
Further, the method for generating the collision avoidance instruction in step S4 includes:
calculating the running acceleration of the target object according to the running speed of the target object, judging whether the running acceleration of the target object reaches a first preset value or not, and if so, generating a deceleration prompt instruction; or the like, or, alternatively,
and judging whether the distance between the target object and the vehicle is smaller than a second preset value or not, and if so, generating an emergency braking instruction.
The second purpose of the invention is realized by adopting the following technical scheme:
a collision avoidance system combining radar and photoelectric scanning executes the collision avoidance method combining radar and photoelectric scanning, and comprises the following steps:
the radar devices are arranged at the front end of the vehicle, and the detection ranges of the adjacent radar devices are partially overlapped;
at least one photoelectric scanning device arranged at the front end of the vehicle and positioned between the adjacent radar devices;
the central control module is connected with the radar device and the photoelectric scanning device and used for analyzing the data collected by the radar device and the photoelectric scanning device; the central control module is in signal bidirectional communication with a vehicle-mounted system of the vehicle.
Further, the radar device emits an electromagnetic wave signal in a millimeter wave frequency band.
Further, the radar devices are respectively and symmetrically distributed on the left side and the right side of the vehicle central dividing line, and the detection range of the radar device positioned on the right side of the vehicle central dividing line is a range covered by anticlockwise rotation of 120 degrees along a horizontal line where the front end of the vehicle is positioned; the detection range of the radar device located on the left side of the center line of the vehicle is a range covered by clockwise rotation of 120 ° along the horizontal line of the front end of the vehicle.
Furthermore, the photoelectric scanning device is provided with a rotation angle of 0-180 degrees.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of firstly identifying all detected objects in front of a vehicle by using a radar device, and then accurately tracking the running speed and the distance between the vehicle and a target object closest to a vehicle by using a photoelectric scanning device, so that the collision avoidance system can obtain a large detection range, and meanwhile, the high-precision detection precision can be realized, and the driving safety is improved.
Drawings
FIG. 1 is a schematic view of a radar apparatus and a photoelectric scanning apparatus of the present invention applied to a vehicle;
FIG. 2 is a block diagram of a collision avoidance system of the present invention;
fig. 3 is a schematic flow chart of the collision avoidance method of the present invention.
In the figure: 1. a radar device; 2. a photoelectric scanning device; 3. a central control module; 4. provided is a vehicle-mounted system.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
The embodiment discloses a collision avoidance system combining radar and photoelectric scanning, which can be applied to vehicles such as automobiles and ships, so that the vehicles can accurately and widely identify objects in front of the vehicles when running, corresponding collision avoidance measures can be timely taken, and the running safety of the vehicles is improved.
The collision avoidance system comprises a radar device 1, a photoelectric scanning device 2 and a central control module 3, wherein the radar device 1 is arranged at the front end and the rear end of the vehicle and is used for detecting the conditions of the front side and the rear side of the vehicle; in the present embodiment, the radar device 1 is provided only at the front end of the vehicle, for detecting the situation in front of the vehicle; the number of the radar devices 1 at the front end of the vehicle is at least two, so that the detection range of the radar devices 1 can be enlarged; in this embodiment, as shown in fig. 1, two radar devices 1 are disposed at the front end of a vehicle, and the two radar devices 1 are respectively and symmetrically distributed at the left and right sides of a bisector O line of the vehicle, and a detection range of the radar device 1 located at the right side of the bisector O line of the vehicle is a range covered by rotating 120 ° counterclockwise along a horizontal line where the front end of the vehicle is located; the detection range of the radar device 1 positioned on the left side of the dividing line O line in the vehicle is a range covered by clockwise rotation of 120 degrees along a horizontal line where the front end of the vehicle is positioned, and the detection ranges of the two radar devices 1 are partially overlapped at the position of the dividing line O line in the vehicle, so that the whole detection range of the radar of the collision avoidance system is a 180-degree range in front of the vehicle, and if the collision avoidance system is applied to an automobile, the radar detection range can cover a lane where the vehicle is positioned and lanes on the left side and the right side of the vehicle, and the detection range is enlarged.
In this embodiment, the radar device 1 is a radar device 1 capable of sending out an electromagnetic wave signal in a millimeter wave frequency band, and after the radar device 1 sends out the electromagnetic wave signal in the millimeter wave frequency band, the radar device 1 receives a detection signal reflected by an object in a detection range; the detection distance of the millimeter wave radar is relatively long, and the millimeter wave radar can stably work in various severe environments such as rainy and snowy weather.
In this embodiment, the front end of the vehicle is further provided with at least one photoelectric scanning device 2, the photoelectric scanning device 2 can also scan the environment in front of the vehicle, and in this embodiment, the photoelectric scanning device 2 is provided with a rotation angle of 0-180 °, and the photoelectric scanning device 2 is located between adjacent radar devices 1, and preferably, the photoelectric scanning device 2 is arranged on a line dividing O line in the vehicle, so that the photoelectric scanning device 2 can complete scanning the scanning range in front of the vehicle by 180 ° through rotation. In this embodiment, the photoelectric scanning device 2 may be a laser scanner, and the scanning accuracy may be improved by emitting laser light to scan the environment in front of the vehicle.
As shown in fig. 2, the photoelectric scanning device 2 and the radar device 1 are both connected to the central control module 3, and the photoelectric scanning device 2 and the radar device 1 transmit data obtained by scanning and detecting of the photoelectric scanning device 2 and the radar device 1 to the central control module 3, so as to analyze the data collected by the radar device 1 and the photoelectric scanning device 2; the central control module 3 is in signal bidirectional communication with a vehicle-mounted system 4 of the vehicle, and the central control module 3 can acquire parameters such as a steering signal, an accelerator signal and a brake signal of a current vehicle from the vehicle-mounted system 4 and send the parameters to the central control module 3 for collision avoidance analysis; meanwhile, the central control module 3 can also send the collision avoidance result obtained by analysis to the vehicle-mounted system 4 for execution, and control the vehicle-mounted system 4 to perform corresponding operations such as deceleration, braking or reminding.
Example two
The embodiment provides a collision avoidance method combining radar and photoelectric scanning, which is applied to the collision avoidance system described in the first embodiment and mainly relates to a signal processing method of the central control module 3. As shown in fig. 3, the collision avoidance method includes the following steps:
step S1: a detection signal obtained by a radar apparatus 1 mounted in a vehicle is acquired, and the detection signal is processed to identify all detection objects in front of the vehicle.
Because the detection signal is obtained by reflecting the electromagnetic wave emitted by the radar device 1 back through the object, when the radar device 1 obtains the reflected detection signal, the object in the detection range can be identified; after receiving the detection signal reflected by the object in the detection range, the radar device 1 compares the transmitted electromagnetic wave signal with the reflected detection signal, thereby identifying the direction, speed and distance between the object in the detection range and the current vehicle.
In addition, the detection signals can be converted into digital signals according to the obtained detection signals, detection pictures are generated, all detected objects are marked in the detection pictures, and the detection pictures are sent to the vehicle-mounted system 4 of the vehicle for display after being formed, so that a user can check the vehicle conditions in front of the vehicle in a vehicle-mounted display screen.
Step S2: and acquiring the distance between each detection object and the vehicle and the direction of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object.
Due to the fact that the detection accuracy of the radar device 1 is insufficient, errors possibly exist in the vehicle condition detection data in front of the vehicle to a certain degree, corresponding collision avoidance operation cannot be timely conducted, and traffic accidents are caused; therefore, the detected object closest to the current vehicle is marked as the target object, the information of the target object is tracked by using the photoelectric scanning device 2, the vehicle condition of the target object closest to the current vehicle is accurately detected, and the collision avoidance operation can be accurately performed in time.
In addition, when the vehicle is in a state of turning or changing lanes, the object closest to the vehicle may be different from the object corresponding to the vehicle in a straight-road driving state, and therefore, the determination of the object needs to be considered in combination with the driving direction of the vehicle, specifically as follows:
firstly, the central control module 3 acquires a steering signal of a vehicle from a vehicle-mounted system 4 of the vehicle, and pre-judges the driving direction of the vehicle according to the steering signal; the steering signal can be generated according to the mode that a user dials the steering indicating lamp, and also can be generated according to the mode that the user rotates the angle of the steering wheel; when a user dials the left turn indicator lamp, a left turn signal is generated at the moment, and the fact that the vehicle is going to turn left is prejudged; or when the single user rotates the steering wheel anticlockwise and the rotation angle is larger than a preset standard value, a left-turn signal can be generated, and the fact that the vehicle is going to turn left is judged in advance.
After the driving direction of the vehicle is determined, all the detection objects in the driving direction are marked, the distances between all the detection objects in the driving direction of the vehicle and the current vehicle are judged, at least one detection object closest to the vehicle is selected from the detection objects and marked as a target object, information of the target object is tracked by the photoelectric scanning device 2, and meanwhile, the information is displayed in a detection picture to prompt a user to pay attention to the vehicle condition of the target object in the driving direction, so that accidents caused by too short distance between vehicles are avoided.
When the vehicle turns, the steering indicator light is turned off or the steering wheel returns to the angle corresponding to the straight running, the running direction can be considered as the straight running, and the target object returns to the object which is closest to the current vehicle in the straight running direction.
Meanwhile, the radar device 1 sends out electromagnetic wave signals for many times in the detection process, whether a detected object is a moving object can be judged according to the detection signals received by the radar device 1 for many times, the judgment method needs to be combined with the current speed of the vehicle, the accelerator signal and the brake signal of the vehicle are obtained, the current speed of the vehicle can be calculated, the radar device 1 detects the moving speed and the moving direction of the object in front of the vehicle, if the moving speed and the moving direction of the object are not consistent with the current speed and the current moving direction of the vehicle, the object can be considered as the moving object, and at the moment, the object is displayed in a detection picture by mainly marking in a specified identification mode for prompting a user to pay attention to the moving condition of the moving object; the specific identifier may be represented by a color, for example, a moving object may be displayed in yellow in the detection screen, and a non-moving object may be displayed in gray in the detection screen.
Step S3: controlling the photoelectric scanning device 2 to rotate to the position corresponding to the target object, tracking the target object by using the photoelectric scanning device 2, and outputting target tracking information; the target tracking information includes a traveling speed of the target object and a distance between the target object and the vehicle.
After the target object is determined, the radar device 1 acquires the position of the target object and controls the photoelectric scanning device 2 to rotate to an angle just opposite to the target object, so that the photoelectric scanning device 2 can accurately scan the condition of the target object and track the target object, namely, the photoelectric scanning device 2 moves along with the target object when the target object moves, and target tracking information such as the current driving speed of the target object and the distance between the target object and a current vehicle is acquired; when the radar device 1 detects that the target object closest to the current vehicle in the current driving direction is other objects, the target object is switched in time, the photoelectric scanning device 2 is controlled to rotate to the angle of the new target object, the new target object is tracked, and the detection precision is improved.
Meanwhile, the central control module 3 fuses the target object picture obtained by scanning of the photoelectric scanning device 2 into the detection picture, and sends the detection picture to the vehicle-mounted system 4 for display. The display mode of the target object in the detection picture can be presented in a mode of appointed colors, for example, the display colors of all the detected objects in the detection picture are gray, and the display color of the selected target object is red, so as to prompt the user to pay attention to the vehicle condition of the target object at any time.
Step S4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system 4 of a vehicle.
The photoelectric scanning device 2 sends the running speed of the target object obtained in real time to the central control module 3, the central control module 3 calculates the running acceleration of the target object according to the running speeds of the target object at different moments, judges whether the running acceleration of the target object reaches a first preset value or not, and if the running acceleration of the target object reaches the first preset value, the target object vehicle performs sudden braking operation, so that a deceleration prompt instruction or an emergency braking instruction is immediately generated at the moment and sent to the vehicle-mounted system 4, a user is prompted, and meanwhile, a vehicle is enabled to automatically execute deceleration or braking operation, so that a collision avoidance effect is achieved.
In addition, the corresponding collision avoidance operation can be performed by judging whether the distance between the target object and the vehicle is smaller than a second preset value, if the distance between the target object and the current vehicle is smaller than a first preset value, the distance between the target object and the current vehicle is considered to be too small, traffic accidents are easy to happen, and therefore a deceleration prompt instruction or an emergency brake instruction is generated.
In order to improve the control accuracy, the first preset value and the second preset value can be further divided into preset ranges of multiple stages, and when the acceleration or the distance of the target object falls into the preset ranges of different stages, corresponding deceleration or braking operation is carried out; meanwhile, the current speed of the current vehicle is combined, for example, when the current speed of the vehicle is 100 kilometers per hour, and when the distance between the target object and the current vehicle is within the range of 60-80 meters, a deceleration prompt operation is made to prompt a user to decelerate; when the distance between the target object and the current vehicle is 40-60 meters, the vehicle automatically performs deceleration operation to slow down the current speed; when the distance between the target object and the current vehicle is less than 40 meters, the vehicle makes an emergency braking operation. The preset ranges of the different stages can be obtained according to a large number of experiments, and are not specifically limited herein.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A collision avoidance method combining radar and photoelectric scanning is characterized by being applied to a vehicle and comprising the following steps:
step S1: acquiring detection signals obtained by a radar device installed in a vehicle, and processing the detection signals to identify all detection objects in front of the vehicle;
step S2: acquiring the distance between each detection object and the vehicle and the direction of each detection object according to the detection signals, and marking the detection object closest to the vehicle as a target object;
step S3: controlling a photoelectric scanning device arranged in a vehicle to rotate to a position corresponding to the target object, tracking the target object by using the photoelectric scanning device, and outputting target tracking information; the target tracking information comprises the running speed of the target object and the distance between the target object and the vehicle;
step S4: and generating a corresponding collision avoidance instruction according to the target tracking information, and sending the collision avoidance instruction to a vehicle-mounted system of a vehicle.
2. The method for collision avoidance by combination of radar and photoelectric scanning according to claim 1, wherein the step S2 further comprises:
acquiring a steering signal of the vehicle, and pre-judging the driving direction of the vehicle according to the steering signal;
and judging the distances between all the detection objects positioned in the driving direction of the vehicle and the vehicle, and selecting at least one detection object closest to the vehicle as a target object.
3. The method for avoiding collision by combining radar and photoelectric scanning according to claim 1, wherein the step S1 is further followed by: and generating a detection picture according to the detection signal and sending the detection picture to a vehicle-mounted system of the vehicle for displaying.
4. The method for avoiding collision by combining radar and photoelectric scanning according to claim 3, wherein the step S1 is further followed by: and judging whether the detected object is a moving object or not according to the multiple detection signals received by the radar device, and if so, marking the detected object in a detection picture by using a specified mark for displaying.
5. The radar and photoelectric scanning combined collision avoidance method according to claim 4, wherein the step S3 is further followed by: and the target object picture scanned by the photoelectric scanning device is fused into the detection picture and is sent to a vehicle-mounted system for display.
6. The method for avoiding collision by combining radar and photoelectric scanning according to claim 1, wherein the method for generating collision avoidance instructions in step S4 is as follows:
calculating the running acceleration of the target object according to the running speed of the target object, judging whether the running acceleration of the target object reaches a first preset value or not, and if so, generating a deceleration prompt instruction; or the like, or, alternatively,
and judging whether the distance between the target object and the vehicle is smaller than a second preset value or not, and if so, generating an emergency braking instruction.
7. A collision avoidance system combining radar and photoelectric scanning, which is characterized by executing the collision avoidance method combining radar and photoelectric scanning according to any one of claims 1 to 6, and comprises the following steps:
the radar devices are arranged at the front end of the vehicle, and the detection ranges of the adjacent radar devices are partially overlapped;
at least one photoelectric scanning device arranged at the front end of the vehicle and positioned between the adjacent radar devices;
the central control module is connected with the radar device and the photoelectric scanning device and used for analyzing the data collected by the radar device and the photoelectric scanning device; the central control module is in signal bidirectional communication with a vehicle-mounted system of the vehicle.
8. A radar and photoelectric scanning combined collision avoidance system according to claim 7, wherein the radar means emits electromagnetic wave signals in the millimeter wave band.
9. The combined radar and photoelectric scanning collision avoidance system according to claim 7, wherein the radar devices are symmetrically distributed on the left and right sides of a vehicle median line, and the detection range of the radar device located on the right side of the vehicle median line is a range covered by 120 ° counterclockwise rotation along a horizontal line where the front end of the vehicle is located; the detection range of the radar device located on the left side of the center line of the vehicle is a range covered by clockwise rotation of 120 ° along the horizontal line of the front end of the vehicle.
10. The radar and photoelectric scanning combined collision avoidance system according to claim 7, wherein the photoelectric scanning device is provided with a rotation angle of 0-180 °.
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